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Mobile robots designed for agricultural tasks need to deal with challenging outdoor unstructured environments that usually have dynamic and static obstacles. This assumption significantly limits the number of mapping, path planning, and navigation algorithms to be used in this application. As a representative case, the autonomous lawn mowing robot considered in this work is required to determine the working area and to detect obstacles simultaneously, which is a key feature for its working efficiency and safety. In this context, RGB-D cameras are the optimal solution, providing a scene image including depth data with a compromise between precision and sensor cost. For this reason, the obstacle detection effectiveness and precision depend significantly on the sensors used, and the information processing approach has an impact on the avoidance performance. The study presented in this work aims to determine the obstacle mapping accuracy considering both hardware- and information processing-related uncertainties. The proposed evaluation is based on artificial and real data to compute the accuracy-related performance metrics. The results show that the proposed image and depth data processing pipeline introduces an additional distortion of 38 cm.

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This paper presents a new algorithm for error detection and error correction in the data encrypted with the Advanced Encryption Standard (AES). The algorithm detects any byte error and over 99% of word errors affecting the data being encrypted. It is also capable of correcting all bit errors of odd multiplicity that are inducted into not more then four bytes of the data. Consequently the immunity of the AES to the fault analysis is improved.

Abstract. This article presents a hierarchical control structure aimed at optimizing the electricity production process in solar power plants with distributed collectors. In these systems, a fluid is heated using the energy provided by the solar irradiation until a desired outlet temperature range is achieved, despite of the effect of disturbances (mainly radiation and inlet temperature),using as manipulated variable the fluid flow. The heated fluid is then used for feeding a heat exchanger where steam is produced for electricity generation using a turbine. Nonlinear models are used in the design of the different layers of the control architecture.